CN111693244A - Wind delivery device and method for detecting wind-resistant flight capability of unmanned aerial vehicle - Google Patents
Wind delivery device and method for detecting wind-resistant flight capability of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111693244A CN111693244A CN202010350753.0A CN202010350753A CN111693244A CN 111693244 A CN111693244 A CN 111693244A CN 202010350753 A CN202010350753 A CN 202010350753A CN 111693244 A CN111693244 A CN 111693244A
- Authority
- CN
- China
- Prior art keywords
- wind
- unmanned aerial
- aerial vehicle
- shell
- fan
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention provides a wind delivery device and a method for detecting wind-resistant flight capability of an unmanned aerial vehicle, wherein the wind delivery device comprises: the fan is characterized by comprising a hollow shell, an air inlet is formed in the first end of the shell and corresponds to the fan, an air outlet is formed in the second end of the shell, and the axis of the air inlet is perpendicular to the axis of the air outlet; and the adjusting device is arranged in the shell and used for adjusting the wind in the shell. According to the invention, the air inlet of the air delivery device corresponds to the fan, and the air output by the fan is output after being adjusted by the adjusting device in the shell, so that the air output by the shell is more uniform, the wind direction is also changed, the air output by the air outlet is convenient to utilize, when the air delivery device is applied to the detection of the wind-resistant flight capability of the unmanned aerial vehicle, the wind output by the air delivery device can simulate natural wind under various different conditions, the wind output by the air outlet can be ensured to be more uniform, the detection accuracy of the wind-resistant flight capability of the unmanned aerial vehicle is improved, the structure is simple, and the cost is low.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle detection, in particular to a wind conveying device and a method for detecting wind-resistant flight capability of an unmanned aerial vehicle.
Background
Unmanned aerial vehicle wide application is in fields such as electric power, agriculture and forestry plant protection, policeman fire control, along with the continuous abundance of application scene, requires more and more to unmanned aerial vehicle performance, one of the key index of weighing unmanned aerial vehicle performance, anti-wind flight ability promptly. The universality of the unmanned aerial vehicle application is directly determined by the height of the wind-resistant flight capability. For example, during power inspection operation, overhead transmission lines are mostly built in the mountains and the mountains or in areas with rare smoke, meteorological conditions are complex and changeable, the wind power level is generally high, and the wind speed is not lower than 4-5 levels throughout the year, so that very high requirements are provided for the wind-resistant flying capacity of the unmanned aerial vehicle. Therefore, in order to guarantee the application safety, the wind-resistant flight capability of the unmanned aerial vehicle needs to be detected, specific technical indexes of the unmanned aerial vehicle are determined, and actual production operation is guided.
At present, detection methods for the wind-resistant flight capability of unmanned aerial vehicles in various fields are successively delivered, but the construction of matched detection equipment is relatively delayed, most detection equipment is limited by technical means, the requirements of the detection methods cannot be completely met, and the detection results have certain deviation. For example, some wind force simulation test devices can only perform general simulation tests, and cannot simulate various conditions of actual natural wind, such as storm wind, gust wind, mountain wind, uniform wind and the like, which easily affects objective evaluation; or, in the laboratory of some professional institutions, a large wind tunnel is designed to simulate actual natural wind, but the large wind tunnel is expensive to manufacture, and the capability of continuously adjusting the wind speed and the wind direction is weak.
Disclosure of Invention
In view of this, the invention provides a wind delivery device, and aims to solve the problem that detection equipment in the prior art cannot accurately detect the wind-resistant flight capability of an unmanned aerial vehicle. The invention further provides a method for detecting the wind-resistant flight capability of the unmanned aerial vehicle.
In one aspect, the present invention provides a wind delivery device, the device comprising: the fan is characterized by comprising a hollow shell, an air inlet is formed in the first end of the shell and corresponds to the fan, an air outlet is formed in the second end of the shell, and the axis of the air inlet is perpendicular to the axis of the air outlet; and the adjusting device is arranged in the shell and used for adjusting the wind in the shell.
Further, in the above-mentioned wind delivery device, the adjusting device includes: the first adjusting mechanism is arranged in the shell along the horizontal direction or along the direction which forms a preset included angle with the horizontal direction, and is used for rectifying the wind input by the wind inlet and enabling the wind to be turned to be output from the wind outlet; and the second adjusting mechanism is rotationally arranged in the shell and close to the air outlet and is used for adjusting the uniformity of wind direction and wind.
Further, in the above wind transporting device, the first adjusting mechanism includes: the shell is bent, the axis of the first end of the shell is perpendicular to the axis of the second end of the shell, and each first blade is obliquely arranged at the bent part of the shell.
Further, in the above air delivery device, the second adjustment mechanism includes: the second blades are arranged in parallel, and each second blade is rotatably arranged in the shell and is close to the air outlet; and the third blades are arranged in parallel, are rotatably arranged in the shell and are arranged between the second blades and the air outlet, and the axis of each third blade is vertical to the axis of each second blade.
Further, the wind delivery device further comprises: and the air speed sensor is arranged at the air outlet and used for detecting the air speed at the air outlet.
According to the invention, the air inlet of the air delivery device corresponds to the fan, and the air output by the fan is output after being adjusted by the adjusting device in the shell, so that the air output by the shell is more uniform, the wind direction is also changed, the air output by the air outlet is convenient to utilize, when the air delivery device is applied to the detection of the wind-resistant flight capability of the unmanned aerial vehicle, the wind output by the air delivery device can simulate natural wind under various conditions, the wind output by the air outlet can be ensured to be more uniform, the detection accuracy of the wind-resistant flight capability of the unmanned aerial vehicle is improved, the structure is simple, the cost is low, and the problem that the detection equipment in the prior art cannot accurately detect the wind-resistant flight capability of the unmanned aerial vehicle is solved.
On the other hand, the invention also provides a method for detecting the wind-resistant flight capability of the unmanned aerial vehicle, which comprises the following steps: 1) arranging at least one fan unit on a test site; each fan group all includes: the air inlet of the shell in the air conveying device corresponds to the fan; 2) hovering the unmanned aerial vehicle to a preset position, and adjusting the wind parameters of the fan unit to achieve a preset test environment; 3) and detecting the position and attitude data of the unmanned aerial vehicle within the preset time, and evaluating the wind-resistant flight capability of the unmanned aerial vehicle according to the position and attitude data of the unmanned aerial vehicle.
Further, in the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle, in the step 1), at least one position and attitude measurement system is arranged on a test site to detect position and attitude data of the unmanned aerial vehicle; wherein the position and orientation data comprises: the position offset of the unmanned aerial vehicle in the horizontal direction and the vertical direction, the standard deviation of the position offset, the variation of the three-axis attitude angle and the standard deviation of the variation of the three-axis attitude angle.
Further, in the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle, in the step 2), the unmanned aerial vehicle is hovered to a preset position, and initial position attitude data of the unmanned aerial vehicle during suspension is acquired; 3) determining maximum data according to initial position attitude data of the unmanned aerial vehicle and position attitude data of the unmanned aerial vehicle within preset time, and comparing the maximum data with the preset data to evaluate the wind-resistant flight capability of the unmanned aerial vehicle; wherein the maximum data comprises: the maximum value of the position offset of the unmanned aerial vehicle in the horizontal direction and the vertical direction, the standard deviation of the position offset, the maximum value of the three-axis attitude angle variation and the standard deviation of the three-axis attitude angle variation.
Further, in the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle, in the step 3), when the unmanned aerial vehicle is in a dangerous condition, the unmanned aerial vehicle is controlled, and the test is terminated.
Further, in the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle, the method further comprises the following steps of 1): hovering the unmanned aerial vehicle to a preset position, controlling the fan set to increase the wind speed by a preset range, and recording the wind speed of the fan set at the moment as the limit wind-resistant flying capacity of the unmanned aerial vehicle when the phenomenon that the unmanned aerial vehicle affects normal flying occurs or position attitude data reaches a preset limit value.
According to the invention, a real natural wind environment is simulated by adjusting the wind parameters of the fan set, various different natural winds under actual conditions can be simulated, an effective test area is enlarged, the wind-resistant flight capability of the unmanned aerial vehicle can be comprehensively and objectively evaluated conveniently, the detection of unmanned aerial vehicles of various models can be satisfied, the position and attitude data of the unmanned aerial vehicle in preset time is detected, the wind-resistant flight capability of the unmanned aerial vehicle is evaluated according to the position and attitude data, and the accuracy and the objectivity of the evaluation of the wind-resistant flight capability of the unmanned aerial vehicle can be effectively ensured.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of an air transportation device according to an embodiment of the present invention;
fig. 2 is a schematic side view of the wind delivery device according to the embodiment of the present invention;
fig. 3 is a flowchart of a method for detecting wind-resistant flight capability of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a layout structure diagram of a wind turbine set in the method for detecting wind-resistant flight capability of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is another flowchart of a method for detecting wind-resistant flight capability of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment of the air delivery device comprises:
referring to fig. 1 and 2, a preferred structure of the wind delivery device of the present embodiment is shown. As shown in the figure, the wind delivery device includes: a housing 1 and an adjustment device. The interior of the housing 1 is hollow, the first end 13 of the housing 1 is provided with an air inlet 11, the air inlet 11 is used for corresponding to a fan, specifically, the side wall of the first end 13 of the housing 1 can be provided with the air inlet 11, the outlet of the fan corresponds to the air inlet 11 of the housing 1, and the fan is disposed outside the housing 1. The wind generated by the fan is delivered into the housing 1 through the air inlet 11. The air inlet 11 may be opened in an end wall of the first end of the casing 1, that is, the first end of the casing 1 is an open end, and the fan cover may be disposed inside the casing 1. Of course, other embodiments are possible as long as the wind generated by the fan can be ensured to be conveyed into the housing 1, and this embodiment does not limit this.
The second end 14 of the housing 1 is opened with an air outlet 12, and the air outlet 12 is used for outputting the air in the housing 1. The axis of the air inlet 11 is perpendicular to the axis of the air outlet 12, so that the air output by the fan is conveyed into the shell 1 through the air inlet 11, and the air is output through the air outlet 12 after turning in the shell 1.
In specific implementation, the air outlet 12 may be opened in a side wall of the second end 14 of the housing 1; alternatively, the casing 1 may be in a bent state, that is, the second end 14 of the casing 1 is perpendicular to the first end 13, and at this time, the air outlet 12 is opened in an end wall of the first end 13 of the casing 1, which is not limited in this embodiment.
An adjusting device is provided inside the housing 1 for adjusting the wind inside the housing 1, specifically, adjusting the wind direction and uniformity of the wind inside the housing 1, and the like.
It can be seen that, in this embodiment, the air intake 11 with the wind conveying device is corresponding with the fan, the wind of fan output is exported after the adjusting device in the casing 1 is adjusted, make the wind of casing 1 output more even, and, the wind direction has also been changed, be convenient for utilize the wind of air outlet 12 output, when the wind conveying device is applied to the anti-wind flight ability of unmanned aerial vehicle and has examined time measuring, the wind of wind conveying device output can simulate the natural wind under the various different situation, can also guarantee that the wind of air outlet 12 output is more even, the degree of accuracy that the anti-wind flight ability of unmanned aerial vehicle detected has been improved, moreover, the steam generator is simple in structure, and is low in cost, the problem that the detection device among the prior art can't accurately detect the anti-wind flight ability of unmanned.
Referring to fig. 1 and 2, in the above embodiment, the adjusting means may include: a first adjusting mechanism 2 and a second adjusting mechanism 3. The first adjusting mechanism 2 is disposed in the housing 1, and the first adjusting mechanism 2 is configured to rectify wind input from the wind inlet 11 and turn the wind so as to output the wind from the wind outlet 12. The first adjusting mechanism 2 can be arranged in the housing 1 along the horizontal direction, or the first adjusting mechanism 2 is arranged in the housing 1 along the direction which is a preset included angle with the horizontal direction. The preset included angle can be determined according to actual conditions, preferably, the preset included angle is an acute angle, and more preferably, the preset included angle is 0-45 degrees. The first adjusting mechanism 2 is used for rectifying the wind generated by the fan, reducing the interference of a wind field, enabling the wind at the wind outlet 12 to be uniform and stable, conducting primary diversion on the wind and enabling the wind to turn 90 degrees uniformly.
The first adjustment mechanism 2 may include: a plurality of first blades 21. Each first blade 21 is arranged in parallel, that is, each first blade 21 is arranged in a row and is parallel to the other, and a preset distance is provided between any two adjacent first blades 21, and the preset distance can be determined according to actual conditions, which is not limited in this embodiment. Casing 1 is the form of buckling, and casing 1 is being buckled near second end 14 department, and the degree of buckling is: the axis of the first end 13 of the housing 1 is perpendicular to the axis of the second end 14, and the housing 1 is substantially L-shaped. In practical application, the length of the second end 14 of the housing 1 may be determined according to practical situations, and the embodiment does not limit this.
Each first blade 21 all sets up in the kink of casing 1 with inclining, specifically, every first blade 21 all is the tilt state at the kink of casing 1, and the axis of every first blade 21 and the vertical axis of the first end 13 department of casing 1 department have certain contained angle promptly, and, each first blade 21 all inclines to second end 14 department of casing 1, then the incline direction of each first blade 21 and the bend direction phase-match of casing 1 to turn to wind outlet 12 department steadily. The inclination angle of each first blade 21 may be determined according to actual conditions, and the embodiment does not limit this.
In practical implementation, when the first adjusting mechanism 2 is disposed along the horizontal direction, the first blades 21 are sequentially disposed along the horizontal direction, and each first blade 21 still needs to be disposed obliquely. When the first adjusting mechanism 2 is disposed along the direction of the predetermined included angle with the horizontal direction, the first blades 21 are sequentially disposed along the direction of the predetermined included angle with the horizontal direction, and each first blade 21 still needs to be disposed in an inclined manner.
In specific implementation, each first blade 21 may be a long rectangular, and of course, may also be other shapes, which is not limited in this embodiment.
The second adjusting mechanism 3 is rotatably disposed inside the housing 1, and the second adjusting mechanism 3 is disposed near the air outlet 12, and the second adjusting mechanism 3 is used for adjusting the uniformity of wind direction and wind. Specifically, the second adjusting mechanism 3 is used for laminar flow wind guiding to further improve the uniformity of the wind field. More specifically, second adjustment mechanism 3 can rotate at the certain extent of horizontal direction and vertical direction, and then adjusts the air-out flow direction to realize the wind direction change.
The second adjustment mechanism 3 may include: a plurality of second blades 31 and a plurality of third blades 32. The second blades 31 are arranged in parallel, that is, the second blades 31 are arranged in a row and are parallel to each other, a preset distance is provided between any two adjacent second blades 31, the preset distance can be determined according to actual conditions, and this embodiment does not limit this. Each of the second blades 31 is rotatably disposed in the casing 1, and each of the second blades 31 is disposed near the air outlet 12.
Specifically, both ends of each second blade 31 are rotatably connected with the casing 1, each second blade 31 is linked with the connecting rod, and each second blade is connected with the connecting rod, so that the rotation of one second blade 31 can drive the other second blades 31 to rotate, and the rotation amplitude and the rotation direction of each second blade 31 are the same. A first driving motor may be further disposed in the casing 1, a driving shaft of the first driving motor is connected to one of the second blades 31 through a conveying belt or a conveying chain, and the first driving motor drives one of the second blades 31 to rotate, so as to drive the other second blades 31 to rotate.
Each third blade 32 is arranged in parallel, that is, each third blade 32 is arranged in a row and is parallel to each other, and a preset distance is provided between any two adjacent third blades 32, and the preset distance can be determined according to actual conditions, which is not limited in this embodiment. Each third vane 32 is rotatably disposed in the housing 1, and each third vane 32 is disposed between each second vane 31 and the air outlet 12. Specifically, each second blade 31 forms a row, each third blade 32 forms a row, each second blade 31 and each third blade 32 are disposed adjacent to each other, and each third blade 32 is closer to the air outlet 12 than each second blade 31.
The axis of each third blade 32 is perpendicular to the axis of each second blade 31, specifically, if the axis of each second blade 31 is parallel to the axial direction of the second end of the casing 1, the axis of each third blade 32 is parallel to the radial direction of the casing 1, whereas if the axis of each second blade 31 is parallel to the radial direction of the casing 1, the axis of each third blade 32 is parallel to the axial direction of the casing 1, and thus, each second blade 31 and each third blade 32 form a blade structure with two layers of inside and outside and perpendicular to each other, and the wind direction can be adjusted in the horizontal direction and the vertical direction.
In practical implementation, each second blade 31 can rotate around the axial direction thereof, and correspondingly, each third blade 32 can also rotate around the axial direction thereof.
Both ends of each third blade 32 are rotatably connected with the housing 1, and the third blades 32 are relatively linked, that is, the rotation of one third blade 32 drives the other third blades 32 to rotate, and the rotation amplitude and the rotation direction of each third blade 32 are the same. A second driving motor may be further disposed in the housing 1, and a driving shaft of the second driving motor is connected to one of the third blades 32 through a conveyor belt or a conveyor chain, so that the second driving motor drives one of the third blades 32 to rotate, and further drives the other third blades 32 to rotate.
In specific implementation, each of the second blades 31 and each of the third blades 32 may be a long rectangle, and of course, may also be other shapes, which is not limited in this embodiment.
It can be seen that, in this embodiment, can carry out the rectification through first adjustment mechanism 2 to the wind that the fan produced for the wind of air outlet 12 department is even steady, and can carry out elementary water conservancy diversion to the wind, turn to the wind uniformly, and second adjustment mechanism 3 can laminar flow wind-guiding, further improves wind field homogeneity, guarantees that the wind field of air outlet 12 certain distance department space range is steady relatively, and the homogeneity of wind speed improves greatly, and can adjust the air-out flow direction in the certain limit of horizontal direction and vertical direction, be convenient for adjust the wind direction.
In the foregoing embodiments, the wind delivery device may further include: and a wind speed sensor. Wherein, the air velocity transducer sets up in air outlet 12 department, and the air velocity transducer is used for detecting the wind speed in wind gap 12 department. The wind speed sensor is used for real-time detection.
During the concrete implementation, air velocity transducer can with control system electric connection, air velocity transducer sends the wind speed that detects to control system, and control system adjusts the fan according to the wind speed of air outlet 12 department to adjust the wind speed, and control system can also adjust each second blade 31 and each third blade 32, makes each second blade 31 and each third blade 32 all rotate along respective axis direction, with the wind direction of adjusting air outlet 12 department.
To sum up, in this embodiment, the wind of fan output is output after adjusting through the adjusting device in the casing 1 for the wind of casing 1 output is more even, and, the wind direction has also changed, be convenient for utilize the wind of air outlet 12 output, when the anti-wind flight ability of unmanned aerial vehicle detects when being applied to the defeated wind device, the wind of defeated wind device output can simulate the natural wind under the various different situation, can also guarantee that the wind of air outlet 12 output is more even, the degree of accuracy that the anti-wind flight ability of unmanned aerial vehicle detected has been improved, and, moreover, the steam generator is simple in structure, and is low in cost.
The embodiment of the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle comprises the following steps:
the embodiment also provides a method for detecting the wind-resistant flight capability of the unmanned aerial vehicle, and referring to fig. 3, fig. 3 is a flowchart of the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle provided by the embodiment of the invention. The method for detecting the wind-resistant flight capability of the unmanned aerial vehicle comprises the following steps:
an arrangement step S1, arranging at least one fan set on a test site; each fan group all includes: the air inlet of the shell of the air delivery device corresponds to the fan.
Specifically, referring to fig. 1, fig. 2 and fig. 4, the fan sets 6 are arranged in a test site, and the number of the fan sets 6 may be determined according to actual conditions, which is not limited in this embodiment. The fan in every fan group 6 passes through the air intake 11 of casing 1 and supplies air in to casing 1, and wind forms even wind after the regulation of first adjustment mechanism 2 and second adjustment mechanism 3 in casing 1, is exported by air outlet 12 again, and the wind direction test site of air outlet 12 output is carried to the natural wind of simulation reality, and then satisfies the test environment that the anti-wind flight ability of unmanned aerial vehicle detected. The housing 1 in each fan unit 6 is connected to the floor of the test site so that the housing is relatively fixed. The specific implementation process of the wind delivery device may be as described above, and this embodiment is not described herein again.
Referring to fig. 4, in the present embodiment, there are three fan sets 6, and the three fan sets 6 are uniformly distributed in the test site, that is, the three fan sets are arranged at an included angle of 120 °.
During the concrete implementation, the outside of every fan group 6 is provided with the support frame to 6 support fan groups, improve fan group's stability, every support frame all is connected with the floor in experimental place.
During specific implementation, the first adjusting mechanism 2 and the second adjusting mechanism 3 in the shell 1 in each fan set 6 adjust the wind to greatly increase the test area in the space range of the air outlet 12 at a certain distance, the wind field is relatively stable, the wind speed can reach 7 levels and above and the uniformity reaches more than 90%, even if the unmanned aerial vehicle 4 generates position deviation due to blowing in the test process, the test can still be performed in the test environment, the situation that the wind speed at the actual position of the unmanned aerial vehicle is smaller than the preset wind speed value of the test environment due to too small test area range and too low wind speed uniformity is avoided, and the wind flying resistance corresponding to the preset wind speed value is obtained by mistake under the test condition lower than the preset wind speed value, and the scientific rationality of the test is reduced. The preset wind speed value is a wind speed value required in a test environment, and a specific numerical value thereof may be determined according to an actual situation, which is not limited in this embodiment.
During specific implementation, a single fan set can be selected to operate or a plurality of fan sets can be selected to operate cooperatively according to test requirements. When the single fan unit operates, the wind speed increasing/decreasing rate, the wind speed and the duration of the fan, the rotation angles of the second blades 31 and the third blades 32 at the air outlet 12 and the like can be preset, and manual adjustment can also be carried out manually; when the multiple fan sets operate cooperatively, besides the preset parameters, the matching modes among the fan sets can be set, including but not limited to the connection sequence, the action time, the operation duration and the like of the fan sets.
At least one position and attitude measurement system is arranged on a test site, and each position and attitude measurement system is used for detecting the position and attitude data of the unmanned aerial vehicle. Wherein the position and orientation data comprises: the position offset of the unmanned aerial vehicle in the horizontal direction and the vertical direction, the standard deviation of the position offset, the variation of the three-axis attitude angle and the standard deviation of the variation of the three-axis attitude angle. More specifically, the position offset and the standard deviation of the position offset of the unmanned aerial vehicle in the horizontal direction, the position offset and the standard deviation of the position offset of the unmanned aerial vehicle in the vertical direction, the variation of the three-axis attitude angle, and the standard deviation of the variation of the three-axis attitude angle. Wherein the three-axis attitude angle is a pitch angle, a yaw angle and a roll angle. Like this, position attitude measurement directly sets up in experimental place, need not to set up on unmanned aerial vehicle 4, has guaranteed unmanned aerial vehicle 4's initial form, has guaranteed the accuracy of unmanned aerial vehicle anti-wind flight ability evaluation result.
In specific implementation, both the number of the position and orientation measurement systems and the set positions can be determined according to actual conditions, which is not limited in this embodiment. Preferably, the number of position and orientation measurement systems is the same as the number of fan sets 6. More preferably, each position and orientation measurement system corresponds to each fan group 6 one-to-one, and each position and orientation measurement system is provided close to the corresponding fan group 6.
In specific implementation, each position and orientation measurement system may include: measurement software and at least two sets of cameras. Wherein, each camera device all with measurement software electric connection, every camera device all is used for shooing unmanned aerial vehicle's position image. And the measurement software calculates the position offset and the standard deviation of the position offset of the unmanned aerial vehicle in each direction, the variation of the three-axis attitude angle and the standard deviation of the variation of the three-axis attitude angle according to the position image shot by each camera device. Each camera may be a high resolution visible light camera. The position and attitude measurement system captures and measures the unmanned aerial vehicle 4 in real time by using a binocular vision principle, calculates the position offset and the standard deviation of the position offset of the unmanned aerial vehicle 4 in the horizontal direction and the vertical direction, the variation of a three-axis attitude angle (a pitch angle, a yaw angle and a roll angle), the standard deviation of the variation of the three-axis attitude angle and the like, and ensures the independence and the accuracy of a detection result.
And an adjusting step S2, hovering the unmanned aerial vehicle to a preset position, and adjusting the wind parameters of the fan set to reach a preset test environment.
Specifically, the unmanned aerial vehicle is hovered to a preset position, and initial position attitude data of the unmanned aerial vehicle during hovering are acquired. More specifically, take off 4 unmanned aerial vehicle to the middle part in experimental place and stably hover, at this moment, unmanned aerial vehicle 4 is no longer controlled to the manual work. Open each position attitude measurement system, record unmanned aerial vehicle 4's initial position attitude data, this initial position attitude data includes: an initial hover position and a three-axis attitude angle.
The fan sets 6 are started, each fan set 6 supplies air to the test site, the position of the unmanned aerial vehicle can change under the blowing of the air, and each position and attitude measurement system acquires the position and attitude data of the unmanned aerial vehicle in real time. According to the test requirement, adjusting the wind parameters of each fan unit 6, wherein the wind parameters can be as follows: wind speed, rate of increase of wind speed, wind direction, style (e.g., uniform wind, gust, tangential wind, storm, mountain wind), etc., until the wind speed value reaches a preset wind speed value and the wind direction, etc., reaches a preset test environment.
In specific implementation, the wind parameters of the fan unit 6 are adjusted by the control system. Specifically, the fans in each fan set 6 are electrically connected with the control system 5, and the control system 5 controls the wind speed of the fans. The first driving motor at each second blade 31 and the second driving motor at each third blade 32 in each fan set 6 are electrically connected to the control system 5, the control system 5 controls the rotation of each second blade 31 through the first driving motor, and the control system 5 controls the rotation of each third blade 32 through the second driving motor, so that the wind direction and the wind uniformity at the air outlet 12 can be adjusted through the rotation of each second blade 31 and each third blade 32, and different winds can be simulated, such as uniform wind, gust and tangential wind.
In specific implementation, the preset test environment may be determined according to actual conditions, and this embodiment does not limit this.
During specific implementation, the running frequency, the air outlet flow, the air speed increasing/decreasing rate, the air speed size and the duration of each fan unit 6, the rotating angles of each second blade 31 and each third blade 32 at the air outlet 12 and the matching modes (such as the connection sequence, the action time and the like) among the fan units 6 are automatically adjusted by controlling each fan unit 6, so that actual natural wind simulating various outdoor conditions, such as storm wind, gust wind, mountain wind, uniform wind, tangential wind and the like, can be realized, and the outdoor wind-resistant flight capability of the unmanned aerial vehicle can be comprehensively and objectively evaluated.
And an evaluation step S3, detecting the position and attitude data of the unmanned aerial vehicle within the preset time, and evaluating the wind-resistant flight capability of the unmanned aerial vehicle according to the position and attitude data of the unmanned aerial vehicle.
Specifically, in a preset test environment, the wind parameters of the fan sets 6 are kept unchanged, and the preset time is detected. In a preset time, each position and attitude measurement system continuously captures and measures the unmanned aerial vehicle 4 at a preset frequency, and calculates the position offset and the standard deviation of the position offset of the unmanned aerial vehicle 4 in the horizontal direction and the vertical direction, the variation of the three-axis attitude angle (the pitch angle, the yaw angle and the roll angle) and the standard deviation of the variation of the three-axis attitude angle.
After the preset time is reached, determining maximum data according to the initial position attitude data of the unmanned aerial vehicle and the detected attitude data of each position of the unmanned aerial vehicle obtained within the preset time, and comparing the maximum data with the preset data to evaluate the wind-resistant flight capability of the unmanned aerial vehicle; wherein the maximum data comprises: the maximum value of the position offset of the unmanned aerial vehicle in the horizontal direction and the vertical direction, the standard deviation of the position offset, the maximum value of the three-axis attitude angle variation and the standard deviation of the three-axis attitude angle variation. Correspondingly, the preset data refers to preset values corresponding to the data in the maximum data one to one.
Specifically, the maximum value of the position offset and the standard deviation of the position offset in the horizontal direction and the vertical direction of the unmanned aerial vehicle 4, the maximum value of the variation of the three-axis attitude angle, and the standard deviation of the variation of the three-axis attitude angle are determined in a preset time. And then, comparing the determined maximum value of the position offset and the standard deviation of the position offset in the horizontal direction and the vertical direction, the maximum value of the variation of the three-axis attitude angle and the standard deviation of the variation of the three-axis attitude angle with respective corresponding preset values to comprehensively evaluate the outdoor wind-resistant flight capability of the unmanned aerial vehicle. More specifically, the position offset and the three-axis attitude angle variation (such as the distance between the unmanned aerial vehicle and a shooting object is kept at least 10 meters, or the roll angle of the unmanned aerial vehicle is not more than 15 degrees) allowed to occur during the wind-resistant flight of the unmanned aerial vehicle in each practical application scene are combined, the outdoor wind-resistant flight capability of the unmanned aerial vehicle is comprehensively evaluated, and the comprehensiveness and the scientificity of the evaluation result can be guaranteed.
During specific implementation, the data of the position offset and the standard deviation of the position offset in each direction, the variation of the three-axis attitude angle and the standard deviation of the variation of the three-axis attitude angle are compared with the initial position attitude data of the unmanned aerial vehicle during initial suspension, and the stable suspension capability of the unmanned aerial vehicle 4 in the preset test environment, namely the wind-resistant flight capability, is judged through quantification means.
When dangerous condition appears in unmanned aerial vehicle 4, the manual work is controlled unmanned aerial vehicle 4 to terminate the experiment. Specifically, when unmanned aerial vehicle 4 wind-resistant flight ability is not enough and danger occurs, the experimenter should intervene in time, manually controls unmanned aerial vehicle 4. And, when the unmanned aerial vehicle 4 appears dangerous, show that unmanned aerial vehicle 4 does not adapt to the experimental environment of this time of experiment, should terminate this time of experiment, carry out the experiment again to, and, adjustable experimental environment when retesting.
Can find out, in this embodiment, simulate real natural wind environment through the wind parameter of adjusting the fan group, and can simulate various different natural wind under the actual conditions, effective test area has been enlarged, be convenient for evaluate unmanned aerial vehicle's anti-wind flight ability comprehensively objectively, can also satisfy multiple model unmanned aerial vehicle's detection, and, detect unmanned aerial vehicle position attitude data in the time of predetermineeing, evaluate unmanned aerial vehicle's anti-wind flight ability according to position attitude data, can guarantee the accuracy and the objectivity of unmanned aerial vehicle anti-wind flight ability evaluation effectively.
Referring to fig. 5, fig. 5 is a flowchart of a method for detecting a wind-resistant flight capability of an unmanned aerial vehicle according to an embodiment of the present invention. The method for detecting the wind-resistant flight capability of the unmanned aerial vehicle comprises the following steps:
an arrangement step S1, arranging at least one fan set on a test site; each fan group all includes: the air inlet of the shell of the air delivery device corresponds to the fan.
Specifically, at least one position and attitude measurement system is arranged on a test site, and each position and attitude measurement system is used for detecting the position and attitude data of the unmanned aerial vehicle 4.
And S4, hovering the unmanned aerial vehicle to a preset position, controlling the fan set to increase the wind speed in a preset range, and recording the wind speed of the fan set as the limit wind-resistant flight capability of the unmanned aerial vehicle at the moment until the phenomenon that the unmanned aerial vehicle affects normal flight occurs or position attitude data reaches a preset limit value.
Specifically, take off 4 unmanned aerial vehicle to the middle part in experimental place and stably hover, at this moment, unmanned aerial vehicle 4 is no longer controlled to the manual work. Starting each fan set 6 and each position attitude measurement system, continuously increasing the wind speed of the fans in each fan set 6 in a preset range through a control system or manually until the phenomenon that the unmanned aerial vehicle 4 influences normal flight or the position offset and the three-axis attitude angle variation reach a limit value, and recording the wind speed at the moment as the limit wind-resistant flight capability of the unmanned aerial vehicle.
It can be seen that, in this embodiment, can accurately determine unmanned aerial vehicle limit anti-wind flight ability through the method of increase wind speed, accurately learn unmanned aerial vehicle's limit in service behavior, and then be convenient for control unmanned aerial vehicle.
To sum up, in this embodiment, simulate real natural wind environment through the wind parameter of adjusting fan group to can simulate various different natural winds under the actual conditions, effective test area has been enlarged, be convenient for evaluate unmanned aerial vehicle's anti-wind flight ability comprehensively objectively, can also satisfy multiple model unmanned aerial vehicle's detection, and, detect unmanned aerial vehicle position attitude data in the time of predetermineeing, evaluate unmanned aerial vehicle's anti-wind flight ability according to position attitude data, can guarantee the accuracy and the objectivity of unmanned aerial vehicle anti-wind flight ability evaluation effectively.
It should be noted that, the wind delivery device and the method for detecting the wind-resistant flight capability of the unmanned aerial vehicle have the same principle, and relevant parts can be referred to each other.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A wind delivery device, comprising:
the fan comprises a shell (1) with a hollow interior, wherein a first end (13) of the shell (1) is provided with an air inlet (11), the air inlet (11) is used for corresponding to a fan, a second end (14) of the shell (1) is provided with an air outlet (12), and the axis of the air inlet (11) is vertical to the axis of the air outlet (12);
the adjusting device is arranged in the shell (1) and used for adjusting the wind in the shell (1).
2. The wind delivery device of claim 1, wherein the adjustment device comprises:
the first adjusting mechanism (2) is arranged in the shell (1) along the horizontal direction or along the direction which forms a preset included angle with the horizontal direction, and is used for rectifying the wind input by the wind inlet (11) and enabling the wind to turn to be output from the wind outlet (12);
and the second adjusting mechanism (3) is rotationally arranged in the shell (1) and close to the air outlet (12) and is used for adjusting the uniformity of wind direction and wind.
3. The wind delivery device according to claim 2, characterized in that the first adjustment mechanism (2) comprises:
the fan comprises a plurality of first blades (21) which are arranged in parallel, the shell (1) is bent, the axis of the first end of the shell (1) is perpendicular to the axis of the second end of the shell, and each first blade (21) is obliquely arranged at the bent part of the shell (1).
4. The wind delivery device according to claim 2, characterized in that the second adjustment mechanism (3) comprises:
a plurality of second blades (31) arranged in parallel, wherein each second blade (31) is rotatably arranged in the shell (1) and is close to the air outlet (12);
the third blades (32) are arranged in parallel, each third blade (32) is rotatably arranged in the shell (1) and is arranged between each second blade (31) and the air outlet (12), and the axis of each third blade (32) is perpendicular to the axis of each second blade (31).
5. The wind delivery device of claim 1, further comprising:
and the wind speed sensor is arranged at the air outlet (12) and is used for detecting the wind speed at the air outlet (12).
6. The method for detecting the wind-resistant flight capability of the unmanned aerial vehicle is characterized by comprising the following steps of:
1) arranging at least one fan unit on a test site; each fan group all includes: the air conveying device as claimed in any one of claims 1 to 5, and a fan, wherein an air inlet of the shell of the air conveying device corresponds to the fan;
2) hovering the unmanned aerial vehicle to a preset position, and adjusting the wind parameters of the fan unit to achieve a preset test environment;
3) and detecting the position and attitude data of the unmanned aerial vehicle within the preset time, and evaluating the wind flight resistance of the unmanned aerial vehicle according to the position and attitude data of the unmanned aerial vehicle.
7. The method for detecting wind-resistant flight capability of the unmanned aerial vehicle according to claim 6, wherein in the step 1),
arranging at least one position and attitude measurement system on the test site to detect position and attitude data of the unmanned aerial vehicle; wherein the position posture data includes: unmanned aerial vehicle position offset and position offset's standard deviation, the change of triaxial attitude angle and the standard deviation of triaxial attitude angle change in horizontal direction and vertical direction.
8. The method for detecting wind-resistant flight capability of the unmanned aerial vehicle according to claim 7,
in the step 2), the unmanned aerial vehicle is hovered to a preset position, and initial position attitude data of the unmanned aerial vehicle during suspension are obtained;
in the step 3), determining maximum data according to the initial position attitude data of the unmanned aerial vehicle and each position attitude data of the unmanned aerial vehicle within a preset time, and comparing the maximum data with preset data to evaluate the wind-resistant flight capability of the unmanned aerial vehicle; wherein the maximum data comprises: unmanned aerial vehicle position offset maximum value and position offset's standard deviation, triaxial attitude angle variation maximum value and the standard deviation of triaxial attitude angle variation in horizontal direction and vertical direction.
9. The method for detecting wind-resistant flight capability of the unmanned aerial vehicle according to claim 6, wherein in the step 3),
when the unmanned aerial vehicle is in a dangerous condition, the unmanned aerial vehicle is controlled and the test is terminated.
10. The method for detecting wind-resistant flight capability of the unmanned aerial vehicle according to claim 6 or 7, wherein the step 1) is followed by further comprising:
hovering the unmanned aerial vehicle to a preset position, controlling the fan unit to increase the wind speed in a preset range, and recording the wind speed of the fan unit at the moment as the limit wind-resistant flight capability of the unmanned aerial vehicle when the phenomenon that the unmanned aerial vehicle affects normal flight occurs or position attitude data reaches a preset limit value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010350753.0A CN111693244B (en) | 2020-04-28 | 2020-04-28 | Wind conveying device and unmanned aerial vehicle wind-resistant flying capability detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010350753.0A CN111693244B (en) | 2020-04-28 | 2020-04-28 | Wind conveying device and unmanned aerial vehicle wind-resistant flying capability detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111693244A true CN111693244A (en) | 2020-09-22 |
| CN111693244B CN111693244B (en) | 2023-06-20 |
Family
ID=72476692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010350753.0A Active CN111693244B (en) | 2020-04-28 | 2020-04-28 | Wind conveying device and unmanned aerial vehicle wind-resistant flying capability detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111693244B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112924134A (en) * | 2021-01-25 | 2021-06-08 | 吉林大学 | Portable anti-wind stability test system |
| CN114030642A (en) * | 2021-11-09 | 2022-02-11 | 中国人民解放军陆军装甲兵学院 | System for testing stability of unmanned aerial vehicle by indoor simulation of natural environment |
| CN114264411A (en) * | 2021-12-28 | 2022-04-01 | 南京迈动科技有限公司 | Unmanned aerial vehicle flight balance performance detection device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101430257A (en) * | 2008-12-11 | 2009-05-13 | 江苏省产品质量监督检验研究院 | Simulation wind resistance test system for gas water heater |
| CN202018109U (en) * | 2011-03-03 | 2011-10-26 | 尤飞鹏 | Air outlet structure |
| CN105547684A (en) * | 2016-01-20 | 2016-05-04 | 山东科技大学 | Multi-nozzle combined type atomization dedusting experiment device under action of wind disturbance |
| CN106226111A (en) * | 2016-09-21 | 2016-12-14 | 中国矿业大学(北京) | The laboratory simulation device of fan performance test |
| CN106288269A (en) * | 2016-09-12 | 2017-01-04 | 珠海格力电器股份有限公司 | Air-out component and there is its air-conditioner |
| CN106525375A (en) * | 2016-10-21 | 2017-03-22 | 国网山东省电力公司电力科学研究院 | Self-adaptation system for detecting anti-wind capability of unmanned plane |
| CN109453973A (en) * | 2018-12-20 | 2019-03-12 | 力同环保机械（上海）有限公司 | A kind of air supply device |
| CN208595337U (en) * | 2018-07-04 | 2019-03-12 | 浙江恒优化纤有限公司 | The blast connection device of winding process |
| CN109502049A (en) * | 2018-11-30 | 2019-03-22 | 山东鲁能智能技术有限公司 | Unmanned plane wind resistance detection system and method |
| US20190178749A1 (en) * | 2016-06-14 | 2019-06-13 | Haute Ecole du Paysage, D'Ingénierie et D'Architecture de Genève | Wind generation means and wind test facility comprising the same |
-
2020
- 2020-04-28 CN CN202010350753.0A patent/CN111693244B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101430257A (en) * | 2008-12-11 | 2009-05-13 | 江苏省产品质量监督检验研究院 | Simulation wind resistance test system for gas water heater |
| CN202018109U (en) * | 2011-03-03 | 2011-10-26 | 尤飞鹏 | Air outlet structure |
| CN105547684A (en) * | 2016-01-20 | 2016-05-04 | 山东科技大学 | Multi-nozzle combined type atomization dedusting experiment device under action of wind disturbance |
| US20190178749A1 (en) * | 2016-06-14 | 2019-06-13 | Haute Ecole du Paysage, D'Ingénierie et D'Architecture de Genève | Wind generation means and wind test facility comprising the same |
| CN106288269A (en) * | 2016-09-12 | 2017-01-04 | 珠海格力电器股份有限公司 | Air-out component and there is its air-conditioner |
| CN106226111A (en) * | 2016-09-21 | 2016-12-14 | 中国矿业大学(北京) | The laboratory simulation device of fan performance test |
| CN106525375A (en) * | 2016-10-21 | 2017-03-22 | 国网山东省电力公司电力科学研究院 | Self-adaptation system for detecting anti-wind capability of unmanned plane |
| CN208595337U (en) * | 2018-07-04 | 2019-03-12 | 浙江恒优化纤有限公司 | The blast connection device of winding process |
| CN109502049A (en) * | 2018-11-30 | 2019-03-22 | 山东鲁能智能技术有限公司 | Unmanned plane wind resistance detection system and method |
| CN109453973A (en) * | 2018-12-20 | 2019-03-12 | 力同环保机械（上海）有限公司 | A kind of air supply device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112924134A (en) * | 2021-01-25 | 2021-06-08 | 吉林大学 | Portable anti-wind stability test system |
| CN114030642A (en) * | 2021-11-09 | 2022-02-11 | 中国人民解放军陆军装甲兵学院 | System for testing stability of unmanned aerial vehicle by indoor simulation of natural environment |
| CN114264411A (en) * | 2021-12-28 | 2022-04-01 | 南京迈动科技有限公司 | Unmanned aerial vehicle flight balance performance detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111693244B (en) | 2023-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111693244A (en) | Wind delivery device and method for detecting wind-resistant flight capability of unmanned aerial vehicle | |
| JP6818052B2 (en) | Wind generation means and wind test facility equipped with this | |
| CN109219782B (en) | System and method for controlling dynamic system | |
| US8272259B2 (en) | Compact wind tunnel instrument | |
| CN206038482U (en) | Sensor and because monitoring station of this sensor | |
| CN109682566A (en) | Unmanned plane test macro and test method | |
| KR20220067578A (en) | Method for measuring the effective working width of unmanned aerial vehicle spreaders for agriculture and test equipment and programs for the same | |
| EP2525243A1 (en) | Method to collect meteorological data | |
| EP2850317B1 (en) | Method for controlling the pitch angle of at least one wind turbine blade | |
| CN109502049A (en) | Unmanned plane wind resistance detection system and method | |
| CN113049215B (en) | Quantitative assessment and test system for airflow interference resistance of rotor unmanned aerial vehicle position | |
| CN105572422A (en) | High performance wind speed detection system | |
| CN103412572B (en) | The fuzzy control method of floating platform during a kind of aerial long | |
| CN110826189B (en) | Method for determining aircraft scale model experiment system | |
| Suhariyono et al. | Design of precision balance and aerodynamic characteristic measurement system for micro aerial vehicles | |
| McCoy et al. | Documentation of the recirculation in a closed-chamber rotor hover test | |
| CN107656091A (en) | A kind of wind measurement method and its system based on air-blower control sensor | |
| Niu et al. | Kinematic responses of an autorotating samara to concentrated crosswind | |
| CN112193434A (en) | Environment simulation vibration test system under unmanned aerial vehicle real flight state | |
| CN109916242A (en) | A kind of millimeter wave influence fuse dynamic test system | |
| CN112650293A (en) | Anti-disturbance control method, system and device for aircraft | |
| CN110450975A (en) | Actively system and method are linked in simulation for a kind of more rotor plant protection drone flight attitudes | |
| Kuhl | Near wall investigation of three dimensional turbulent boundary layers | |
| CN209589415U (en) | Unmanned plane test macro | |
| Liu et al. | Design of thermal wind sensor with constant power control and wind vector measurement method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |